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EP1795985A4 - Autonomic travelling body system - Google Patents

Autonomic travelling body system

Info

Publication number
EP1795985A4
EP1795985A4 EP05741605A EP05741605A EP1795985A4 EP 1795985 A4 EP1795985 A4 EP 1795985A4 EP 05741605 A EP05741605 A EP 05741605A EP 05741605 A EP05741605 A EP 05741605A EP 1795985 A4 EP1795985 A4 EP 1795985A4
Authority
EP
European Patent Office
Prior art keywords
traveling body
autonomic
charge device
autonomic traveling
charge
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP05741605A
Other languages
German (de)
French (fr)
Japanese (ja)
Other versions
EP1795985A1 (en
EP1795985B1 (en
EP1795985B9 (en
Inventor
Masahito Sano
Yoshiyuki Hirahara
Masayuki Nakaeda
Hitoshi Iizaka
Takashi Tomiyama
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toshiba TEC Corp
Original Assignee
Toshiba TEC Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toshiba TEC Corp filed Critical Toshiba TEC Corp
Publication of EP1795985A1 publication Critical patent/EP1795985A1/en
Publication of EP1795985A4 publication Critical patent/EP1795985A4/en
Publication of EP1795985B1 publication Critical patent/EP1795985B1/en
Application granted granted Critical
Publication of EP1795985B9 publication Critical patent/EP1795985B9/en
Ceased legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Manipulator (AREA)
  • Percussion Or Vibration Massage (AREA)

Abstract

An autonomic traveling body (1) is allowed to travel straight toward a wall (21) with a charge device (15) kept positioned rightward. The autonomic traveling body is halted when its distance from the wall is at least the thickness of a first member (18) in the charge device. In this state, the autonomic traveling body is rotated 90æ to the right on its axis so as to squarely face a surface (19) formed by the second member (20) of the charge device. Then the autonomic traveling body is allowed to travel straight toward the second member of the charge device, and it is halted when the distance to the surface (19) reaches a specified value. In this state, the autonomic traveling body is rotated 90æ to the right on its axis so that charge terminals (7a, 7b) squarely face feed terminals (16a, 16b) in the first member of the charge device. Finally, the autonomic traveling body is backed somewhat until the charge terminals contact the feed terminals, and is halted, thereby starting charging to the battery of the autonomic traveling body.
EP05741605A 2004-05-21 2005-05-19 Autonomic travelling body system Ceased EP1795985B9 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2004151795A JP4371899B2 (en) 2004-05-21 2004-05-21 Autonomous vehicle system
PCT/JP2005/009190 WO2005114346A1 (en) 2004-05-21 2005-05-19 Autonomic travelling body system

Publications (4)

Publication Number Publication Date
EP1795985A1 EP1795985A1 (en) 2007-06-13
EP1795985A4 true EP1795985A4 (en) 2008-04-09
EP1795985B1 EP1795985B1 (en) 2011-03-30
EP1795985B9 EP1795985B9 (en) 2011-09-14

Family

ID=35428527

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05741605A Ceased EP1795985B9 (en) 2004-05-21 2005-05-19 Autonomic travelling body system

Country Status (6)

Country Link
US (1) US7423402B2 (en)
EP (1) EP1795985B9 (en)
JP (1) JP4371899B2 (en)
CN (1) CN100470430C (en)
DE (1) DE602005027225D1 (en)
WO (1) WO2005114346A1 (en)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4371899B2 (en) 2004-05-21 2009-11-25 株式会社東芝 Autonomous vehicle system
CN102407522B (en) * 2010-09-19 2014-03-26 泰怡凯电器(苏州)有限公司 Intelligent robot system and charging butting method thereof
CN103019240B (en) * 2012-11-30 2015-08-12 大连理工大学 A kind of AGV dolly plane positioning navigational system and method
US10338596B2 (en) * 2013-09-04 2019-07-02 Itrack Llc Positioning of a mobile platform using a bumper
CZ307121B6 (en) * 2013-11-22 2018-01-24 České vysoké učení technické v Praze, Fakulta strojní, Ústav přístrojové a řídící techniky A connector for recharging moving mechanisms, especially robots
JP5949734B2 (en) * 2013-11-29 2016-07-13 トヨタ自動車株式会社 Abnormality determination system and determination method thereof
CN105816102B (en) * 2015-01-06 2019-01-18 江苏美的清洁电器股份有限公司 The control method of domestic robot and domestic robot
US10232722B2 (en) 2016-10-11 2019-03-19 Toyota Motor Engineering & Manufacturing North America, Inc. System, method, and apparatus for controlling operation of energy modules of an energy management system
CN114047747B (en) * 2021-10-18 2023-12-08 北京华能新锐控制技术有限公司 Rail type inspection robot
CN114374125A (en) * 2022-01-19 2022-04-19 维沃移动通信有限公司 Charging equipment and electronic equipment assembly

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5646494A (en) * 1994-03-29 1997-07-08 Samsung Electronics Co., Ltd. Charge induction apparatus of robot cleaner and method thereof
US6504610B1 (en) * 1997-01-22 2003-01-07 Siemens Aktiengesellschaft Method and system for positioning an autonomous mobile unit for docking

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3301089B2 (en) * 1991-09-03 2002-07-15 松下電器産業株式会社 Mobile work robot
SE523080C2 (en) * 1998-01-08 2004-03-23 Electrolux Ab Docking system for self-propelled work tools
JP2002268746A (en) 2001-03-12 2002-09-20 Canon Inc Mobile robot device and self-charging method for mobile robot device and medium for providing its control program
JP2003330543A (en) * 2002-05-17 2003-11-21 Toshiba Tec Corp Charging type autonomous moving system
SE0201739D0 (en) * 2002-06-07 2002-06-07 Electrolux Ab Electronic demarcation system
JP4371899B2 (en) 2004-05-21 2009-11-25 株式会社東芝 Autonomous vehicle system
KR100766434B1 (en) * 2005-07-22 2007-10-15 엘지전자 주식회사 Robot having function of recognizing image and leading method for thereof

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5646494A (en) * 1994-03-29 1997-07-08 Samsung Electronics Co., Ltd. Charge induction apparatus of robot cleaner and method thereof
US6504610B1 (en) * 1997-01-22 2003-01-07 Siemens Aktiengesellschaft Method and system for positioning an autonomous mobile unit for docking

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2005114346A1 *

Also Published As

Publication number Publication date
DE602005027225D1 (en) 2011-05-12
JP2005332311A (en) 2005-12-02
US7423402B2 (en) 2008-09-09
CN100470430C (en) 2009-03-18
EP1795985A1 (en) 2007-06-13
WO2005114346A1 (en) 2005-12-01
JP4371899B2 (en) 2009-11-25
EP1795985B1 (en) 2011-03-30
EP1795985B9 (en) 2011-09-14
US20060132611A1 (en) 2006-06-22
CN1806214A (en) 2006-07-19

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